THE COPPERBELT UNIVERSITY

SCHOOL OF ENGINEERING
MECHANICAL ENGINEERING DEPARTMENT

PROJECT TITLE: DESIGN AND FABRICATION OF A SOLAR POWERED

SELF-NAVIGATED GRASS CUTTER

NAMES: MULABANYA PATRICK 19142114

MULENGA ELISHA 19140304
LUHANGA MWIZA 19141257
PHIRI HEZRON 19143286
CHOMBA PAUL 19136369

PROGRAMME: B.ENG (HONS) MECHATRONICS ENGINEERING

SUPERVISOR: MR MUGALA GEORGE
YEAR: 2023
DECLARATION
We hereby declare that we carried out the work reported in this report in the Department of
Mechanical Engineering, The Copperbelt University, under the supervision of Mr Mugala. We
solemnly declare that to the best of our knowledge no part of this report has been submitted here
in a previous application for the award of a bachelor’s degree. All the sources of knowledge used
have been duly acknowledged.

STUDENTS:

1. MULABANYA PATRICK

Sign……………………………. Date………………………………

2. MULENGA ELISHA

Sign……………………………. Date………………………………

3. LUHANGA MWIZA

Sign…………………………….. Date………………………………

4. PHIRI HEZRON

Sign…………………………….. Date………………………………

5. CHOMBA PAUL

Sign…………………………….. Date………………………………

APPROVAL
This is to certify that the project titled Design and Fabrication of a solar powered self navigated
grass cutter was carried out by Mulabanya Patrick, Mulenga Elisha, Luhanga Mwiza and Phiri
Hezron, Chomba Paul has been read and approved for meeting part of the requirements and
regulations governing the EG401 Projects course in Bachelor of Mechatronics Engineering at the
Copperbelt University, Kitwe, Zambia.

Names Date Sign

MULABANYA PATRICK …………………… ……………………………..

MULENGA ELISHA …………………….. ……………………………..

LUHANGA MWIZA ………………………

………………………………

PHIRI HEZRON ………………………

……………………………….
CHOMBA PAUL ………………………
……………………………….

Name of Supervisor

MR MUGALA GEORGE ……………………….

……………………………….
ACKNOWLEDGEMENT

We would like to convey and express our deepest gratitude to our project supervisor, Mr. George
Mugala, who had tirelessly put in his unwavering support and guidance throughout the project. A
large portion of the progress of this project and its report had come from the analyses, journal
articles, books and websites that he recommended. It was from the aforementioned resources that
many ideas and concepts found in this report arose.
We also render many thanks to the faculty for the help and support they gave throughout the
process of making this project a reality. The deductions made during the times of making
presentations for project were of great help and notes as were focus and attention should be paid
to make the necessary adjustments and modifications.
Finally, last but certainly not least, we would like to extend our appreciation to the Higher
Education Loans and Scholarships Board (HELSB) for their financial aid. The project
allowances lent to us were of great .
ABSTRACT
Grass cutting is a process of trimming grass to a desirable height using specialized equipment, In
order to control disease and pest infestations, maintaining green vegetation is a popular practice
on golf courses, sports fields, and residential, school, and university lawns, to name a few. .
Grass cutting can be classified as either manual or automated means.
Manual grass cutting involves human interaction or is handheld and involves electromechanical
technology.
Automated grass cutters are cheap as compared to conventional grass cutters, require little to no
human interaction, eco-friendly and more sustainable as they require less servicing, do not need
fossil fuels to operate or be connected to mains as they are made to be fully autonomous.
This project provides an insight on some improvements implemented on the pre-existing
technologies of solar powered self-navigated grass cutters. The design of the of the project was
carried out in a computer aided software CATIA for the 3D model and Proteus for the circuit
analysis so as to reduce the cost of production and make it easier for troubleshooting and making
necessary adjustments. The design objectives were to (a) improve the design quality (b) improve
on the quality of the blade used to cut grass (c) transfer maximum power to the blade (d) make it
fully autonomous and avoid obstacles.
This project aims at improving the overall knowledge of embedded systems, material science and
machine design, providing a sustainable and more eco-efficient approach at maintaining grassy
vegetation.
Contents
DECLARATION................................................................................................................................................
ACKNOWLEDGEMENT...................................................................................................................................
ABSTRACT......................................................................................................................................................
CHAPTER 1: INTRODUCTION AND BACKGROUND.........................................................................................
1.1 BACKGROUND.........................................................................................................................................
1.2 PROBLEM STATEMENT..........................................................................................................................10
1.3 AIM........................................................................................................................................................11
1.3.1 OBJECTIVES.........................................................................................................................................11
1.3.2 JUSTIFICATION....................................................................................................................................12
1.3.3 SCOPE.................................................................................................................................................12
1.4 PROJECT RELEVANCE.............................................................................................................................12
1.5 METHODOLOGICAL APPRAOCH.............................................................................................................13
CHAPTER 2: LITERATURE REVIEW................................................................................................................14
2.1 (JAIN SAGAR PATIL & BAGANE PROFMRSSSPATIL, 2016).................................................................15
2.2 (K M, 2020)......................................................................................................................................15
2.3 (Swamy B N, 2017)...........................................................................................................................15
2.4 (Baro, 2018).....................................................................................................................................16
2.5 (Khetan et al., 2021) ........................................................................................................................16
2.6 (Daniyan et al., 2020) ......................................................................................................................17
CHAPTER 3: SYSTEM DESIGN AND SIMULATIONS........................................................................................17
3.1 SYSTEM DESIGN.....................................................................................................................................17
3.2 REQUIREMENTS.....................................................................................................................................19
The project requires the following components;........................................................................................19
3.2.1 Solar charging system..................................................................................................................19
3.2.2 Microcontroller............................................................................................................................22
3.3.3 Ultrasonic sensor.........................................................................................................................24
3.3.4 Dc motors....................................................................................................................................26
3.3.5 Motor driver................................................................................................................................28
3.3.6 Blade............................................................................................................................................30
3.3.7 Chassis.........................................................................................................................................32
3.3.8 Wheels.........................................................................................................................................34
3.3 EXPECTED SYSEM OVERVIEW................................................................................................................36
3.3.1 DESIGN CALCULATIONS......................................................................................................................38
....................................................................................................................................................................38
3.4 SIMULATION PACKAGE..........................................................................................................................40
AND RESULTS...............................................................................................................................................40
CHAPTER 4: SYSTEM PROTOTYPING, TESTING AND IMPLEMENTATION......................................................41
4.1 PROTOYPING AND DOWNSIZING...........................................................................................................41
4.2 TESTING.................................................................................................................................................43
4.3 OBSERVATION DISCUSSION AND MITIGATION......................................................................................44
5.0 CONCLUSION...................................................................................................................................45
5.1 RECOMMENDATION........................................................................................................................45
5.2 FURTHER WORK...............................................................................................................................46
REFERENCES................................................................................................................................................47
APPENDICES................................................................................................................................................48
APPENDIX ONE............................................................................................................................................48
APPENDIX TWO...........................................................................................................................................49
APPENDIX THREE.........................................................................................................................................53
LIST OF FIGURES
Figure1.7; the methodological approach of the project
Figure 3.1; system design of the grass cutter
Figure3.1other views of the grass cutter
Figure 3.2.1: solar charging system
Figure 3.2.2 arduino mega micro controller
Figure 3.3.3 ultrasonic sensor
Figure 3.3.4 dc gear motors
Figure 3.3.5 motor driver
Figure 3.3.6 blade
Figure 3.3.7 chassis
Figure 3.3.8 wheels
Figure 3.3 block diagram of system
Figure 3.3.1 flow chart of code
Figure 3.4 proteus electrical simulaions
Figure 3.4.1 blade simulations
Figure 4 prototype
CHAPTER 1: INTRODUCTION AND BACKGROUND

1.1 BACKGROUND
The first lawn mower was designed and fabricated in 1830 by an English inventor and engineer,
Edwin Beard Budding from Stroud, Gloucestershire, England. The main target of his design was
to cut grass in sports fields and extensive gardens. He partnered with fellow engineer John
Ferrabee and obtained patent in the same year to manufacture and sell their product (Shukitis,
n.d.). In 1859, Thomas Green invented the chain driven lawn mower. Varying widths were made
for different situations and it was much quieter than its predecessors. In 1922 Ideal Power
Company invented a self-propelled riding lawn mower in Lansing, Michigan. However, it
wouldn’t be until 1955 that the first zero-turn was made. In 2011 Black and Decker made the first
solar powered lawn mower. (Caballero, 2020).

Automated solar grass cutter are becoming increasingly sophisticated having capabilities of self-
docking and some containing rain sensors if necessary and are slowly eliminating human
interaction. With the increase in the number of smart phones, it is now easier to schedule lawn
mowing activities and frequency of operation by custom apps.
1.2 PROBLEM STATEMENT
Cutting grass with traditional lawn mowers can be tiring, noisy and has many vibrations that cause
fatigue and discomfort to the operator. They require regular mechanical maintenance for gas
powered mowers and for electrically operated mowers they need to be always connected to mains
supply. Gas powered mowers burn fossil fuels that produce emissions thus negatively impacting
the eco system and overall costly to build. Latest technologies in grass cutting reduce the cost of
production as design, analysis, testing and troubleshooting is implemented in software programs
making it possible for increased up times and optimal power usage, sustainable and simplified
machine design.
1.3 AIM
• To design, fabricate and assemble a working solar powered, self-navigated grass cutter
and also improve on technology used in prior designs.

1.3.1 OBJECTIVES
• Design a 3-dimensional model of the chassis to carry the components of the grass cutter.
• Select a suitable microcontroller to perform the task of obstacle navigation
• Select, analyze and test different materials for stresses in the blade
• Develop an algorithm for obstacle detection, navigation and power optimization.
• Implement a power supply and design an electronic circuit in Proteus.
• Test and analyze the entire circuit in software
• Assemble the components

1.3.2 JUSTIFICATION
Currently, our country mainly depends on the manually controlled means to trim grass. This is
time consuming, costly and environmentally unfriendly. In this project, we will design and
fabricate a simple and cost-effective, solar-powered self-navigated grass cutter.

1.3.3 SCOPE
 Detect obstacles in the path of site
 Avoiding obstacles by the use of an ultrasonic sensor
 Move on a smooth and flat terrain
 Cutter will be placed in a space with the reach of sunlight
1.4 PROJECT RELEVANCE
This project has been designed to alleviate many factors that cone with ordinary grass cutters. One
of the major relevance is the fact that its environmentally friendly and uses autonomy to navigate
the lawn being mowed.
Solar power is a renewable source of energy and operation costs of the machine become
significantly low and solar adds a further advantage to it by noise reduction and efficiency of
power output.
1.5 METHODOLOGICAL APPRAOCH

Literature Modelling
and Analysis and
review design
simulation

Acquisition of Machine
Fabrication component/m
and assembly machine
components aterial
selection

Testing and
troubleshooting

Figure 1.51: Methodology flowchart

CHAPTER 2: LITERATURE REVIEW

2.1 (JAIN SAGAR PATIL & BAGANE PROFMRSSSPATIL, 2016)

had created a wireless lawn mower. They employed a solar panel, so the battery does not need
to be charged externally and is continuously charged at a steady voltage while the grass cutter
is operating. Due to the two DC motors, the grass cutter's forward and reverse motions could
both be accomplished at the same time as the battery was being charged by daylight. .

2.2 (K M, 2020)
This model's design included a Node MCU microcontroller, a relay, an electromagnetic
switching mechanism, and blades that cut down on plant growth. This gave it a nice
appearance and made it easier to cut at uniform lengths. A 12V battery and a DC motor were
included with the model for power supply and motion. External battery charging was
accomplished by using a solar panel which utilized the sun's energy to charge the goods. The
stainless-steel blades provided consistent speed and accurate cutting over the land. This
machine was very easy to operate, affordable, and helpful for small- to medium-sized farm
owners. There is no need for labor with this machine because it is fully automated. The
sensors employed here will aid the apparatus.
2.3 (Swamy B N, 2017)
These lawnmowers convert solar energy into electrical energy by using solar-oriented boards.
If battery (12v) can be discharged at that time, charges could be filed. Finally, Tom is
browsing while using an AC supply. Then, a battery was used to store this electrical energy.
This battery will be at that moment connected to the RF module, and the RF module might
also be connected to both dc motors. A project to provide the power for motors in order to use
transfers will be hosted by RFmodule. The controller sends a signal to the RFmodule, which
also supplies power according to the engine's specifications. Then, by modifying a
component, this engine may be connected to the wheel. Wheel revolves, to add to that.
Because of the wheel revolution, the winding cutter also turns thanks to the adjusting tool.
Resulting from these rotations by the claiming cutter

2.4 (Baro, 2018)

The photovoltaic panel used to power the source draws power from solar energy to charge the
battery and power the system. The microcontroller is responsible for controlling the system.
Using an IR sensor and microcontroller, object detection can be automated. DC motors are
used for wheel movement and cutting activities. The motor driver circuit is utilized to make
the microcontroller and it compatible. The tiny output of the microcontroller is improved by
the driver circuit. The mode of operation is chosen using a toggle switch, and movement
operations are performed using a DPDT switch. The base that supports the entire model has
wheel chains attached to it on both sides. When two motors are driven, wheels move. For
cutting activities, a cutting blade is employed. The blade's action when cutting is provided by
the motor.
2.5 (Khetan et al., 2021)
We suggest a fully automatic grass-cutting tool that can. It uses solar energy to charge its
batteries and cuts grass without assistance from a person. The car is "smart" in the sense that it
uses sensors to think for itself, enabling it to avoid any obstacles it may come across in a
lawn. . The machine can move over the grass thanks to the technology's 12V batteries, which
also power the motor that moves the blades and the wheels. The usage of solar panels to
charge the batteries is one of the benefits we've added to the system, as it does not require any
external wiring. An ATmega328P micro controller, which is programmed to control all of the
system's motors and sensors, manages the entire system. An ultrasonic sensor is utilized for
object detection. As long as there are no obstacles in its path, the robot will advance (such as a
tiny animal or an object) The vehicle may also function under human control if and when
necessary. Modern Bluetooth technology is also incorporated, enabling us to control the robot
with our own telephonic devices.

2.6 (Daniyan et al., 2020)

Cutting force, blade torque, motor power requirements, and cutting speed are just a few of the
factors that go into design. The motor that allows the robot to move around the lawn is chosen
depending on the desired maximum and minimum torque as well as the number of revolutions
per minute.A high rate of rotations per minute will improve good robotspeed. whereas a large
amount of torque will be required to adequately power the motor. The obstacle-avoiding lawn
mowing robot is designed with various sub-systems that are required for the robot to carry out
its main mission. Power supply unit, IR LED / receiver sensor pair, ultrasonic sensor, Arduino
microcontroller (ATmega328), memory card, Raspberry Pi camera, Global Positioning
System (GPS), switch, and geared DC motors are the main subsystems that make up this
robot. Although the infrared sensor is portable and reasonably priced, external factors can
occasionally affect its sensitivity. As a result, for accurate obstacle detection, It was combined
with an ultrasound sensor, which is also portable and affordable but not affected by outside
influences. .
CHAPTER 3: SYSTEM DESIGN AND SIMULATIONS

3.1 SYSTEM DESIGN

The system design of the automated grass cutter that uses solar power involves several key
components and functionalities. Here's a high-level overview of the system design:

 Solar Power Generation: The grass cutter system incorporates solar panels to capture
sunlight and convert it into electrical energy. The panel is typically mounted on the top
surface of the grass cutter.

 Solar Power Management: A solar charge controller regulates the flow of electrical energy
from the solar panels to the battery system. It ensures efficient charging and prevents
overcharging or damage to the batteries.

 Battery System: The grass cutter includes a battery system to store the electrical energy
generated by the solar panels. The batteries provide power to the grass cutter's electric
motor and other components.

 Electric and gear Motors: The grass cutter is equipped with an electric motor that drives
the cutting blades. The motor is powered by the battery system and provides the necessary
torque and speed for efficient grass cutting, while the gear motors power the wheels for
movement and traction loading

 Obstacle Detection Sensors: The grass cutter is equipped with an ultrasonic sensor that
uses sound to detect distance of object, the sensor is mounted on a servo motor

 The system contains a microcontroller which is embedded with a code that moves moors
controls power supply to the parts of the system

 For safety blade is put underneath the machine avoid accidents

Figure 3.1 shows the autocad design of the Automated grasscutter

Figure3.1.1 other views of the grass cutter

3.2 REQUIREMENTS
The project requires the following components;
3.2.1 Solar charging system

Figure3.2.1 shows solar charging system www.scholarly.com

The purpose of a solar charging system in a grass cutter is to provide a renewable and sustainable
source of power for the operation of the grass cutter. Here are some key reasons why a solar
charging system is beneficial:

 Renewable Energy: Solar power is a clean and renewable energy source. By harnessing the
energy from the sun, the grass cutter can operate without relying on fossil fuels or grid
electricity, reducing carbon emissions and environmental impact.

 Cost Savings: Once the initial investment is made in the solar charging system, the
operational costs are significantly reduced. Solar energy is free, and there are no ongoing
fuel expenses or electricity bills associated with charging the grass cutter.

 Energy Independence: With a solar charging system, the grass cutter becomes self-
sufficient in terms of power supply. It can operate in remote locations or areas without
access to electricity grids, making it versatile and convenient for various applications.
  Quiet and Emission-Free Operation: Solar-powered grass cutters operate silently compared
to their gasoline or diesel-powered counterparts. They produce zero exhaust emissions,
improving air quality and reducing noise pollution, which is especially beneficial for
residential areas, parks, and noise-sensitive environments.

 Low Maintenance: Solar charging systems require minimal maintenance compared to

traditional power sources. Solar panels have no moving parts and are designed to be
durable and long-lasting. As a result, the grass cutter’s maintenance requirements are
reduced, leading to lower operating costs and increased reliability.

 Extended Operating Time: Solar charging systems can store excess energy in batteries,
allowing the grass cutter to operate even when sunlight is limited or during the night. This
extends the cutting time and ensures uninterrupted operation, regardless of weather
conditions.

 Environmental Benefits: By using solar power, the grass cutter contributes to a cleaner and
healthier environment. It helps reduce greenhouse gas emissions, air pollution, and noise
pollution, promoting sustainability and eco-friendliness.

Overall, DC gear motors provide the necessary power, control, efficiency, and reliability for the
wheel propulsion system in a lawn mower. They enable efficient movement, precise speed
control, directional maneuverability, and durability, contributing to an effective and user-friendly
lawn mowing experience.
 3.2.2 Microcontroller

Figure 3.2.2 shows a micro controller Arduino mega www.britannica.com

The purpose of a microcontroller in an automated grass cutter is to serve as the brain of the
system, controlling and coordinating various functions and operations. Here are some key reasons
why a microcontroller is essential in an automated grass cutter:

 Control and Coordination: The microcontroller acts as the central control unit, receiving
input from sensors and other components and executing the necessary commands. It
manages the overall operation of the grass cutter, including movement, cutting mechanism,
obstacle detection, and user interface.

 Sensor Integration: The microcontroller interfaces with various sensors, such as proximity
sensors, ultrasonic sensors, or optical sensors, to detect obstacles, boundaries, or other
environmental factors. It processes the sensor data and makes decisions accordingly,
enabling autonomous navigation and obstacle avoidance.

 Motor Control: Electric motors are typically used in automated grass cutters for propulsion
and driving the cutting mechanism. The microcontroller controls the speed, direction, and
timing of the motors, ensuring precise movement and effective grass cutting.
  User Interface: The microcontroller can incorporate a user interface, such as buttons,
switches, or a touchscreen display, to allow users to interact with the grass cutter. It can
provide status information, settings adjustment, and programming options, making the
grass cutter user-friendly and customizable.

 Programmability and Flexibility: A microcontroller provides programming capabilities,

allowing the grass cutter’s behavior and functionality to be easily modified or enhanced. It
enables the implementation of advanced features, such as different cutting patterns,
scheduling, or integration with smart home systems.

 Power Management: The microcontroller can optimize power usage and implement
power-saving features. It can control the charging and discharging of batteries, monitor
power levels, and implement energy-efficient algorithms, thereby maximizing the grass
cutter’s operating time and battery life.

 Fault Detection and Safety: The microcontroller can monitor various parameters and detect
faults or abnormal conditions in the grass cutter’s operation. It can trigger safety
mechanisms, such as emergency stop or shutdown, in case of critical situations, ensuring
user safety and preventing potential damage to the system.

 Data Logging and Analysis: The microcontroller can log operational data, such as cutting
time, battery levels, or sensor readings, for analysis and optimization. It can provide
valuable insights into performance, efficiency, and maintenance requirements, facilitating
continuous improvement of the grass cutter.

Overall, the microcontroller plays a crucial role in the automation, control, and intelligence of an
automated grass cutter. It enables autonomous operation, sensor integration, motor control, user
interaction, programmability, power management, safety features, and data analysis, making the
grass cutter efficient, reliable, and user-friendly.
 3.3.3 Ultrasonic sensor

Figure 3.3.3 shows ultrasonic sensor www.ebay.com

Ultrasonic sensors are commonly used for obstacle detection and distance measurement in various
applications, including robotics, automotive systems, and industrial automation. These sensors
emit ultrasonic waves and measure the time it takes for the waves to bounce back after hitting an
object. By analyzing the time delay, the sensor can determine the distance to the obstacle.

Here's a general overview of how ultrasonic sensor obstacle detection works:

 Sensor Setup: The ultrasonic sensor consists of a transmitter and a receiver. The
transmitter emits ultrasonic waves, usually in the range of 20 kHz to 200 kHz, which are
inaudible to humans. The receiver detects the waves after they bounce back from an
object.

 Wave Transmission: The transmitter sends out a short ultrasonic pulse.

 Wave Reflection: The pulse travels through the air until it encounters an obstacle. When
the pulse hits the object, it gets reflected back toward the sensor.

 Time Measurement: The receiver detects the reflected pulse and measures the time it takes
for the pulse to return. This time is often referred to as the "time of flight."
  Distance Calculation: Using the speed of sound in the medium (usually air), which is
approximately 343 meters per second at room temperature, the sensor calculates the
distance to the obstacle. The calculation is based on the formula: Distance = Speed × Time
/ 2, where the division by 2 is necessary because the pulse traveled to the object and back.

 Data Processing: The distance information can be processed further based on the
requirements of the specific application. For example, it can be used to trigger an alarm,
control the movement of a robot, or provide feedback to the user.

It's worth noting that the accuracy and range of ultrasonic sensors can vary depending on the
sensor's design and quality. Factors such as temperature, humidity, and surface characteristics of
the objects being detected may also affect the sensor's performance. Additionally, the sensor's
field of view is typically conical, so it's important to consider the sensor's beam angle when
designing an obstacle detection system.

Overall, ultrasonic sensors provide a reliable and cost-effective solution for obstacle detection in
many different scenarios.
 3.3.4 Dc motors

Figure3.3.4 shows a dc gear motor www.britannica.com

The purpose of DC gear motors in a grass cutter is to provide the necessary power and control for
the movement of the wheels. Here are some key reasons why DC gear motors are used in lawn
mowers for wheel power:

 Torque and Power: DC gear motors are designed to deliver high torque output, making
them well-suited for applications that require sufficient power to move the lawn mower
across different terrains and handle resistance from grass and uneven surfaces. The gear
reduction mechanism within the motor allows for increased torque while maintaining a
smaller motor size.

 Speed Control: DC gear motors offer precise speed control, allowing the lawn mower to
operate at different speeds depending on the user’s requirements or the cutting conditions.
This control is essential for navigating obstacles, maneuvering in tight spaces, or adjusting
the cutting speed.

 Directional Control: DC gear motors can rotate in both forward and reverse directions,
enabling the lawn mower to move in different directions as needed. This feature allows for
easy navigation, turning, and backing up when encountering obstacles or changing cutting
paths.

 Efficiency: DC gear motors are known for their efficiency, converting electrical energy
into mechanical power with minimal losses. This efficiency helps optimize the battery life
 in battery-powered lawn mowers or reduces the energy consumption in electric or hybrid
models.

Compact Size: DC gear motors are relatively compact and lightweight compared to other types of
motors, making them suitable for integration into the lawn mower’s chassis. Th
 3.3.5 Motor driver

FIGURE 3.3.5 shows motor driver

A motor driver is an electronic device or circuit that controls the speed, direction, and
performance of an electric motor. It provides the necessary power and control signals to drive the
motor according to desired parameters.

Motor drivers are commonly used in various applications where precise control over motor
operation is required. Here are a few examples of how motor drivers are used:

 Robotics: Motor drivers are essential components in robots. They control the motors that
drive the robot’s movement, allowing it to navigate, manipulate objects, and perform
specific tasks. Motor drivers enable precise control over motor speed and direction,
enabling smooth and accurate robot motion.

 Industrial Automation: Motor drivers are extensively used in industrial automation

systems, such as conveyor belts, CNC machines, and robotic arms. They provide precise
control over motor speed and torque, allowing for efficient and accurate control of the
machines.

 Automotive: Motor drivers are used in various automotive applications, including electric
power steering systems, electric windows, windshield wipers, and HVAC blowers. They
enable precise control over motor speed and direction, ensuring reliable and efficient
operation of these systems.

 Home Appliances: Motor drivers are found in many household appliances like washing
machines, refrigerators, air conditioners, and vacuum cleaners. They control the motors
responsible for the appliance’s functionality, such as rotating the drum in a washing
machine or driving the compressor in an air conditioner.
  Consumer Electronics: Motor drivers are used in consumer electronics devices, such as
camera autofocus mechanisms, drones, and quadcopters. They control the motors that
provide movement and stabilization in these devices, ensuring smooth operation and user
control.

Motor drivers can vary in complexity and features depending on the specific application
requirements. They can be simple integrated circuits (ICs) or more advanced modules that
incorporate additional protection features, such as over-current and over-temperature protection,
as well as communication interfaces for external control and monitoring.

Overall, motor drivers play a vital role in controlling and optimizing the performance of electric
motors across a wide range of applications, providing precise and reliable motor control.
 3.3.6 Blade

figure 3.3.6 shows a blade

The blade on a grass cutter, also known as a lawnmower, is a crucial component that performs the
cutting action to trim grass and maintain a neat lawn. Here are some key uses of the blade on a
grass cutter:

 Grass Cutting: The primary purpose of the blade is to cut grass effectively. As the grass
cutter moves forward, the spinning blade slices through the grass at the desired height,
resulting in a clean and even cut. The blade’s design and sharpness contribute to the
quality of the cut, ensuring a well-maintained lawn appearance.

 Height Adjustment: Many grass cutters feature adjustable cutting heights. By raising or
lowering the blade, users can control the grass’s length after mowing. This feature allows
for customization based on personal preferences or specific lawn maintenance
requirements.

 Mulching: Some grass cutters are equipped with mulching capabilities. Mulching blades
are designed to cut the grass into fine clippings and redistribute them back onto the lawn.
These clippings act as natural fertilizer, adding nutrients to the soil and promoting a
healthier lawn. Mulching also helps retain moisture and reduces the need for external
fertilizers.

 Bagging: Grass cutters often include a collection bag or container for gathering the grass
clippings. The blade’s cutting action propels the cut grass into the bag for easy disposal or
composting. Bagging is useful when a clean and debris-free lawn is desired, or when the
clippings are needed for other purposes, like composting or mulching in different areas.
  Trimming Edges: Some grass cutters feature the ability to trim grass along edges and
borders. These models may have a specific blade design or attachments that enable
efficient cutting in hard-to-reach areas, such as near fences, walls, or around flower beds.
This functionality helps create defined edges and maintain a tidy appearance.

It’s worth noting that proper maintenance and care of the blade are essential for optimal
performance and safety. Regular inspection, sharpening, and replacement, if necessary, are crucial
to ensure the blade remains in good condition and can effectively perform its intended functions.
 3.3.7 Chassis

figure 3.3.7 shows a chassis

In the context of a grass cutter or lawnmower, the term “chassis” refers to the framework or
structure that supports and houses the various components of the machine. The chassis serves
several important purposes:

 Structural Support: The chassis provides a sturdy and stable base for the grass cutter. It
holds all the components together, including the engine, wheels, blade, and controls. The
chassis needs to be robust enough to withstand the vibrations, impacts, and stresses
encountered during operation.

 Mounting Surface: The chassis provides mounting points for attaching the engine, cutting
blade, wheels, and other components. These components are securely fastened to the
chassis to ensure proper alignment and functionality.

 Operator Platform: The chassis typically includes a platform or deck where the operator
stands or walks during operation. This platform is designed for comfort and safety,
providing a stable and ergonomic position for the user to control the grass cutter.

 Protection and Safety: The chassis acts as a protective barrier between the operator and the
moving parts of the grass cutter. It helps prevent accidental contact with the cutting blade,
engine, and other potentially hazardous components. The chassis may also incorporate
safety features like shields or guards to further enhance operator safety.
  Maneuverability: The design of the chassis affects the grass cutter’s maneuverability and
handling. Factors such as weight distribution, wheelbase, and center of gravity impact how
easily the machine can be maneuvered around obstacles, turns, and uneven terrain.

 Durability and Longevity: A well-designed chassis is built to withstand the rigors of

regular use and endure various weather conditions. It should be resistant to corrosion,
impact, and other forms of wear and tear, ensuring the grass cutter’s longevity and
reliability.

Chassis materials can vary depending on the type and size of the grass cutter. Common materials
include steel, aluminum, and reinforced plastic. The chassis design may also incorporate features
like adjustable height settings, folding mechanisms for storage, and easy access for maintenance
and cleaning.

Overall, the chassis is a critical component of a grass cutter as it provides structural integrity,
operator safety, and serves as the foundation for the machine’s operation and performance.
 3.3.8 Wheels

figure 3.3.8 shows a wheel

Wheels play a vital role in the operation and maneuverability of a grass cutter or lawnmower.
Here are some key aspects regarding the use of wheels on a grass cutter:

 Mobility: The wheels enable the grass cutter to move smoothly across the lawn. They
provide traction and support, allowing the machine to traverse various terrains, including
flat surfaces, slopes, and uneven ground. The size, tread pattern, and quality of the wheels
impact the grass cutter’s ability to navigate different conditions.

 Maneuverability: The design and placement of the wheels contribute to the grass cutter’s
maneuverability. The configuration of the wheels, such as their spacing and alignment,
affects how easily the machine can turn, change direction, and navigate around obstacles.
Grass cutters may have front-wheel, rear-wheel, or all-wheel drive configurations, each
offering distinct benefits in terms of maneuverability.

 Height Adjustments: Many grass cutters feature adjustable cutting heights, and the wheels
are often involved in this mechanism. By changing the wheel settings, users can raise or
lower the cutting height, allowing for customization based on the desired grass length.
This feature is particularly useful when dealing with different grass types or adapting to
changing weather conditions.

 Stability: The wheels contribute to the overall stability of the grass cutter during operation.
They help distribute the machine’s weight evenly, preventing excessive tilting or toppling.
 A stable grass cutter ensures safety for the operator and maintains consistent cutting
performance.

 Durability: The wheels should be durable enough to withstand the demands of regular use,
including impacts, vibrations, and exposure to various outdoor conditions. High-quality
wheels made of materials like rubber or polyurethane are commonly used for their
strength, resilience, and resistance to wear.

 Accessibility and Maintenance: Some grass cutters have wheels that can be easily removed
or replaced for maintenance purposes. This accessibility allows for cleaning, lubrication,
or tire replacement, ensuring the wheels remain in optimal condition for smooth operation.

It’s important to note that different types of grass cutters may have different wheel configurations
and designs. For example, walk-behind push mowers typically have smaller wheels for easy
maneuverability, while ride-on mowers or lawn tractors may have larger wheels with more
traction for improved stability and productivity.

Overall, the wheels on a grass cutter are essential components that contribute to mobility,
maneuverability, stability, and cutting performance. They enable the machine to efficiently
navigate and maintain a well-groomed lawn.

3.3 EXPECTED SYSEM OVERVIEW

Figure3.3system overview

The project is designed to have power source that’s solar charged, the solar panel is designated
with 15 watts and the battery is 12 volts. For safety precautions and battery preservation a solar
charge controller regulates the flow of electrical energy from the solar panels to the battery
system. It ensures efficient charging and prevents overcharging or damage to the batteries.
The power house and heart of the system is the microcontroller which receives a voltage of 5 volts
from the battery after being regulated by a voltage regulator. The micro controller, acts as an
interface for all the motors which are controlled in motion by a motor driver. A code is run
through the micro controller which oversees all operations of the system. The code includes an
obstacle detection function and control torque for high speed motor that cuts grass.
Flow chart overleaf shows how code runs;
Figure3.3.1 flow chart

3.3.1 DESIGN CALCULATIONS

.
CALCULATING THE TORQUE REQUIERED BY THE CUTTING MOTOR
Data
Suitable speed for cutting grass is around 1000rpm – 3000rpm
p=7850kg/m3
g= 9.81m/s2
Blade dimensions: 20cm X 2.5cm X 0.7cm
Volume of blade = 0.2m*0.025m*0.007m
= 3.5x10-3m3
Weight of blade = pgV
= 7850kg/m g*9.81m/s2 *3.5x10-3m3
=2.6952N approximately 3N.
Minimum torque required to rotate the blade=
T=W*r
=3 * 0.035
= 0.105Nm
Determining the minimum power required to cut grass
Force required to cut grass is 10N.
Torque needed to cut grass is = 10N*0.035
= 0.35Nm.
Getting the highest torque for designing the actuator which is 0.35N.

Calculating the power needed to cut grass.

Using 1000rpm as speed of the motor
P=Tw
= 0.35Nm*1000RPM*2*π/60
=36W
Therefore a 12v 7ah battery is enough to provide the power to cut grass.

CALCULATING THE TORQUE REQUIERED BY THE WHEEL MOTORS

Needed speed is 100rpm

Diameter of the wheels = 5 cm.

Calculating the weight of the body

W= 13KG * 9.81M/KG
=127.53N
Calculating the rolling resistance
Rr=W*FRICTION FORCE
=127.53N * 0.075
=9.56475N
FORCE REQUIRED TO SUPPORT THE VEHICLE TO ATTAIN THR NEEDED SPEED

Fa = ma
= 13kg * 0.295m/s2
= 3.835N

TOTAL TRACTIONS FORCE

Ft = Fa + Rr
= 9.56475 + 3.835N
= 13. 39975N
TOTAL POWER BY THE WHEELS
P=Tw
= 13. 39975* 100rpm * 2* π/60
= 140. 32W.

Battery sizing

(Daily power watt-hour)*7 days/ 12 = 70wh

 3.4 SIMULATION PACKAGE
AND RESULTS
To prevent damages to any of the components. Electrical simulations were done using proteus
The diagram shows the test results from the simulations

Figure 3.4

The Simulation gives you an insight in the proper methods of connections and help in avoiding
technical mishaps. The diagram shows a perfectly running electrical with the correct biasing and
connections to the motors, driver and sensor

For mechanical simulation the blade stresses are analysed in order to have a view of what type
forces its subjected too and to clearly design a material that is durable

figure 4.1 shows blade undergoing stress analyses

CHAPTER 4: SYSTEM PROTOTYPING, TESTING AND
IMPLEMENTATION

4.1 PROTOYPING AND DOWNSIZING

In our design we undertook the following steps in order to prototype the grass cutter

1. Defining the Requirements: Determining the specific requirements for the automated grass
cutter, such as the cutting width, cutting height, maneuverability, and power consumption.
The requirements are stated in chapter 3 section 2
Research and Selection of Components, which are solar panel, rechargeable batteries,
electric motors, cutting blade, chassis, wheels, sensor, and control systems.

2. Designing the Chassis and Cutting Mechanism

3. Integrating the Solar Power System
4. Develop the Control System: this system used differential drive for motion movement;
A differential drive system is commonly used in autonomous grass cutters, also known as
robotic lawn mowers. It provides a simple and effective way to maneuver the mower in various
directions while cutting grass.

In a differential drive system, the mower is typically equipped with two independent electric
motors, each connected to a wheel on either side of the mower. These motors are responsible for
driving the wheels and providing the necessary propulsion to move the mower.

By controlling the speed and direction of the motors, the mower can execute different movements.
For example, if both motors rotate at the same speed in the forward direction, the mower moves
straight ahead. If one motor rotates faster than the other, the mower turns in the direction of the
slower motor. By adjusting the speed of each motor independently, the mower can make precise
turns and navigate around obstacles.

The differential drive system takes advantage of the difference in rotational speeds between the
two wheels to control the direction of the mower. When one wheel rotates faster than the other,
the mower turns in the direction of the slower wheel. This principle is similar to how a tank or a
car with independent driving wheels turns.

To ensure accurate positioning and navigation, robotic lawn mowers often incorporate additional
sensors and technologies. These can include GPS, boundary wires, proximity sensors, and
obstacle detection systems. These sensors provide information about the mower's position, detect
the boundaries of the mowing area, and identify obstacles to avoid.

By combining the differential drive system with these sensors and algorithms, the robotic lawn
mower can autonomously navigate the lawn, cutting the grass in an efficient and precise manner
while avoiding obstacles and staying within the defined boundaries.
 5. Building and Assembly of the Prototype; overall the prototype looked like this

figure 4 the actual downsized prototype

The material used when prototyping was downsized in order to cost effectiveness
Appendix two contains the material specifications of the prototype.
4.2 TESTING
The system was tested on soft grass and simba grass. The results on soft grass were much more
effective as opposed to simba grass. The cutter could maneuver around the lawn on its own
without any assistance and could cut soft grass without any problem this comes as an effect of
downsizing the system.
The prototype could last for a few minutes until it runs out of power again its important to
mention the more the ampere hours the heavier the prototype the less likely it is to move on its
own.
The prototype did is task as a downsize and further tests on turning effect was made on the
prototype to test the traction on the wheels.
4.3 OBSERVATION DISCUSSION AND MITIGATION
The following things were observed on the prototype;
 The system navigation is not completely systematic because only an ultrasonic sensor is
being used to detect obstacles
 The heavier the battery the more the power the lawn mower needs to move and cut grass
 The size of the blade affects motor performance and also affects the effectiveness of the
cutting
 Wheels need to be heavy to increase traction when it comes to turning in grass

The following are some of the mitigation process that could be taken to further on work on this
prototype;
 Buying A GPS system with cameras that can systematically analyse how to go about lawn
cutting
 Power system that stays on the lawnmower, the battery affects the rate at which prototype
moves best method would be to change power system from solar to a lighter system or use
a lighter continuously charge system while mowing which in this case damages the battery
 Using a big motor for the blade would be a better approach to let it support a heavy blade
that can cut any type of grass

The system could be very effective with the suggested mitigation however the system could be
very costly in terms of acquisition as compared to the normally used lawn. The goal however is to
minimize production costs and maximise on power efficiency and reliability. Further research on
better power sources that are energy efficient would need to be conducted
5.0 CONCLUSION
5.1 RECOMMENDATION
The project could best work if we allow for changes in power supply especially avoiding
using a heavy battery
Further on a GPS system could really of good use in terms of systematic navigation
5.2 FURTHER WORK
 Addition of a GPS system to aid in systematic navigation.
 Using better power source that is lighter in work
REFERENCES

1. Jain Sagar patil & Bagane Prof mrs SS Patil,

Year of publish 2016

2. K.M,
M.C.U microntroller model,
Year 2020

3. Swamy BN,
Solar Energy lawn mower.
Year 2017.

4. Baro,
Photovoltaic cell,
Year 2018

5. Khetan et Al
Automatic grass cutter
Year 2021
6. Daniyan et Al
High speed grass cutter robot
Year of publish 2020
Websites
1.www.britannica.com
2.www.scholarly.com
3.www.ebay.com
APPENDICES

APPENDIX ONE
This is the gant chart
APPENDIX TWO
The navigation code in Arduino

#include <AFMotor.h>
#include <NewPing.h>
#include <Servo.h>

#define TRIG_PIN A0
#define ECHO_PIN A1
#define MAX_DISTANCE 200
#define MAX_SPEED 190
#define MAX_SPEED_OFFSET 20

NewPing sonar(TRIG_PIN, ECHO_PIN, MAX_DISTANCE);

AF_DCMotor motor1(1, MOTOR12_1KHZ);

AF_DCMotor motor2(2, MOTOR12_1KHZ);
AF_DCMotor motor3(3, MOTOR34_1KHZ);
AF_DCMotor motor4(4, MOTOR34_1KHZ);
Servo myservo;

Boolean goesForward=false;
Int distance = 100;
Int speedSet = 0;

Void setup() {

Myservo.attach(10);
Myservo.write(115);
Delay(2000);
Distance = readPing();
Delay(100);
Distance = readPing();
Delay(100);
Distance = readPing();
Delay(100);
Distance = readPing();
Delay(100);
}

Void loop() {
Int distanceR = 0;
Int distanceL = 0;
Delay(40);
If(distance<=15)
{
moveStop();
delay(100);
moveBackward();
delay(300);
moveStop();
delay(200);
distanceR = lookRight();
delay(200);
distanceL = lookLeft();
delay(200);

if(distanceR>=distanceL)
{
turnRight();
moveForward()
}else
{
turnLeft();
moveForward()
}
}else
{
moveForward();
}
Distance = readPing();
}

Int lookRight()
{
Myservo.write(50);
Delay(500);
Int distance = readPing();
Delay(100);
Myservo.write(115);
Return distance;
}

Int lookLeft()
{
Myservo.write(170);
Delay(500);
 Int distance = readPing();
Delay(100);
Myservo.write(115);
Return distance;
Delay(100);
}

Int readPing() {
Delay(70);
Int cm = sonar.ping_cm();
If(cm==0)
{
Cm = 250;
}
Return cm;
}

Void moveStop() {
Motor1.run(RELEASE);
Motor2.run(RELEASE);
Motor3.run(RELEASE);
Motor4.run(RELEASE);
}

Void moveForward() {

If(!goesForward)
{
goesForward=true;
motor1.run(FORWARD);
motor2.run(FORWARD);
motor3.run(FORWARD);
motor4.run(FORWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
{
Motor1.setSpeed(speedSet);
Motor2.setSpeed(speedSet);
Motor3.setSpeed(speedSet);
Motor4.setSpeed(speedSet);
Delay(5);
}
}
}
Void moveBackward() {
goesForward=false;
motor1.run(BACKWARD);
motor2.run(BACKWARD);
motor3.run(BACKWARD);
motor4.run(BACKWARD);
for (speedSet = 0; speedSet < MAX_SPEED; speedSet +=2)
{
Motor1.setSpeed(speedSet);
Motor2.setSpeed(speedSet);
Motor3.setSpeed(speedSet);
Motor4.setSpeed(speedSet);
Delay(5);
}
}

Void turnRight() {
Motor1.run(FORWARD);
Motor2.run(FORWARD);
Motor3.run(BACKWARD);
Motor4.run(BACKWARD);
Delay(500);
Motor1.run(FORWARD);
Motor2.run(FORWARD);
Motor3.run(FORWARD);
Motor4.run(FORWARD);
}

Void turnLeft() {
Motor1.run(BACKWARD);
Motor2.run(BACKWARD);
Motor3.run(FORWARD);
Motor4.run(FORWARD);
Delay(500);
Motor1.run(FORWARD);
Motor2.run(FORWARD);
Motor3.run(FORWARD);
Motor4.run(FORWARD);
}
APPENDIX THREE
Table of materials used and specs and cost
Material specs quantity Cost

Microcontroller Arduino mega 1 1100k

Gear motors 12volts 4 1248k

100rpm
Motor driver L293d 1 300k
Voltage 5v output 1 250k
regulator
Board 50x35cm 1 50k

Wheels 9.25cm radius 4 245k

Solar panel 20 watts 1 400k

Battery 12v , 9ah 1 450k

High speed motor dc 1000rpm 1 208

Shipping and other expenses 1250

Blade aluminum 1 450

total 5951